WO2010028718A3 - Method for image processing stereo images - Google Patents

Method for image processing stereo images Download PDF

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Publication number
WO2010028718A3
WO2010028718A3 PCT/EP2009/005414 EP2009005414W WO2010028718A3 WO 2010028718 A3 WO2010028718 A3 WO 2010028718A3 EP 2009005414 W EP2009005414 W EP 2009005414W WO 2010028718 A3 WO2010028718 A3 WO 2010028718A3
Authority
WO
WIPO (PCT)
Prior art keywords
pixel
costs
image
images
disparity
Prior art date
Application number
PCT/EP2009/005414
Other languages
German (de)
French (fr)
Other versions
WO2010028718A2 (en
Inventor
Stefan Gehrig
Stefan Hahn
Original Assignee
Daimler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Ag filed Critical Daimler Ag
Publication of WO2010028718A2 publication Critical patent/WO2010028718A2/en
Publication of WO2010028718A3 publication Critical patent/WO2010028718A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images

Abstract

The invention relates to a method for determining pixels (p, p') in at least two stereoscopically captured images (1, 1'), wherein for each pixel (p, p') of one of the images (1, 1'), the costs (C(p,d), C'(p',d')) of the dissimilarity is calculated using the intensities of the pixel (p) and of a potentially corresponding pixel (p') of the other image (1'). The costs (C(p,d),C'(p',d')) are accumulated in relation to the accumulated costs (S(p,d), S'(p',d')) for said pixel (p,p') along a number of one-dimensional paths (L1 -L8, L1' - L8') opening into the pixel (p,p'). The pixel (p') is selected to produce a disparity map (D(1), D'(1)) from the pixels (p') of the other images (1') considered to be potentially corresponding, said pixel having minimal global energy containing at least the costs (C(p,d), C'(p',d')) of the dissimilarity. According to the invention, the image of the costs (C(p,d), C'(p',d') on each pixel (p, p') are respectively added from at least four paths (L1 - L4, L5' L8' or L1' - L4', L5 - L8) and the disparity (dmin, d'min) is determined with respect to the image, the disparity having the lowest cost value (Cmin, C'min).
PCT/EP2009/005414 2008-09-09 2009-07-27 Method for image processing stereo images WO2010028718A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008046505.4 2008-09-09
DE102008046505.4A DE102008046505B4 (en) 2008-09-09 2008-09-09 Process for image processing of stereo images

Publications (2)

Publication Number Publication Date
WO2010028718A2 WO2010028718A2 (en) 2010-03-18
WO2010028718A3 true WO2010028718A3 (en) 2011-05-12

Family

ID=41650829

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/005414 WO2010028718A2 (en) 2008-09-09 2009-07-27 Method for image processing stereo images

Country Status (2)

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DE (1) DE102008046505B4 (en)
WO (1) WO2010028718A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010024666A1 (en) 2010-06-18 2011-12-22 Hella Kgaa Hueck & Co. Method for optical self-diagnosis of a camera system and apparatus for carrying out such a method
DE102013100344A1 (en) 2013-01-14 2014-07-17 Conti Temic Microelectronic Gmbh Method for determining depth maps from stereo images with improved depth resolution in the far field
JP6377970B2 (en) 2014-06-12 2018-08-22 トヨタ自動車株式会社 Parallax image generation apparatus and parallax image generation method
JP6901424B2 (en) * 2018-03-12 2021-07-14 株式会社東芝 Image processing device and image processing method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008015535A1 (en) * 2007-12-19 2008-08-07 Daimler Ag Stereo images processing method, involves determining image data of original image from stereo images, and determining depth map of selectable section of original image with maximum dissolution

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19509373C1 (en) 1995-03-15 1996-08-08 Siemens Ag Object based coding of image sequences
DE102008017834A1 (en) 2008-04-08 2008-10-30 Daimler Ag Pixels correspondences determining method for stereoscopically recorded images, involves dividing image into image sections of specific size, and calculating accumulated costs for interior of image sections in each unidimensional path

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008015535A1 (en) * 2007-12-19 2008-08-07 Daimler Ag Stereo images processing method, involves determining image data of original image from stereo images, and determining depth map of selectable section of original image with maximum dissolution

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
HIRSCHMULLER H: "Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information", COMPUTER VISION AND PATTERN RECOGNITION, 2005 IEEE COMPUTER SOCIETY CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, vol. 2, 20 June 2005 (2005-06-20), pages 807 - 814, XP010817537, ISBN: 978-0-7695-2372-9, DOI: DOI:10.1109/CVPR.2005.56 *
HIRSCHMULLER H: "Stereo Processing by Semiglobal Matching and Mutual Information", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, IEEE SERVICE CENTER, LOS ALAMITOS, CA, US, vol. 30, no. 2, 1 February 2008 (2008-02-01), pages 328 - 341, XP011246438, ISSN: 0162-8828 *

Also Published As

Publication number Publication date
DE102008046505A1 (en) 2010-03-11
WO2010028718A2 (en) 2010-03-18
DE102008046505B4 (en) 2023-06-29

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